From d5b1cc2af4bf036a250f6ecc3ad28ffaafefd983 Mon Sep 17 00:00:00 2001
From: YuZhong-Chen <yuzhong1214@gmail.com>
Date: Fri, 1 Dec 2023 14:41:04 +0800
Subject: [PATCH] Change robot_base_frame in kobuki_gazebo.urdf.xacro file.

Before the fix, the tf tree should look like base_footprint -> base_link -> ...
When simulating Kobuki using Gazebo, the plugin would publish: odom -> base_link
This caused an error in the transform from base_footprint to base_link since one link could only have one parent.

To prevent the Gazebo plugin (diff-drive) from publishing odom -> base_link, we should modify the configuration in the URDF.

Reference: https://github.com/kobuki-base/kobuki_ros/pull/49
---
 .../kobuki_ros/kobuki_description/urdf/kobuki_gazebo.urdf.xacro | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/kobuki_ws/src/kobuki_ros/kobuki_description/urdf/kobuki_gazebo.urdf.xacro b/kobuki_ws/src/kobuki_ros/kobuki_description/urdf/kobuki_gazebo.urdf.xacro
index 99bcea8a..a71bbc44 100644
--- a/kobuki_ws/src/kobuki_ros/kobuki_description/urdf/kobuki_gazebo.urdf.xacro
+++ b/kobuki_ws/src/kobuki_ros/kobuki_description/urdf/kobuki_gazebo.urdf.xacro
@@ -193,7 +193,7 @@
         <publish_wheel_tf>true</publish_wheel_tf>
         <odometry_topic>odom</odometry_topic>
         <odometry_frame>odom</odometry_frame>
-        <robot_base_frame>base_link</robot_base_frame>
+        <robot_base_frame>base_footprint</robot_base_frame>
 	    </plugin>
 	  </gazebo>
   </xacro:macro>